{"id":25861,"date":"2022-06-01T08:57:19","date_gmt":"2022-06-01T07:57:19","guid":{"rendered":"https:\/\/prusalab.cz\/?p=25861"},"modified":"2022-09-16T14:44:19","modified_gmt":"2022-09-16T13:44:19","slug":"large-format-3d-printing","status":"publish","type":"post","link":"https:\/\/prusalab.cz\/en\/blog\/large-format-3d-printing\/","title":{"rendered":"Large-format 3D printing of recyclates using a robotic arm"},"content":{"rendered":"\n<p>Today, our parent company Prusa Research has nearly 700 employees, several production lines, a seven-story building in Prague\u2019s Hole\u0161ovice district and more than a hundred thousand 3D printers all around the world. In 10 years of existence, we managed to significantly advance the possibilities of 3D printed plastics, which we now produce in a plethora of colours and variations from plain <a href=\"https:\/\/prusament.com\/materials\/pla\/\" target=\"_blank\" rel=\"noreferrer noopener\">PLA<\/a> to the highly advanced <a href=\"https:\/\/prusament.com\/materials\/prusament-pc-blend-carbon-fiber\/\" target=\"_blank\" rel=\"noreferrer noopener\">PC Blend Carbon Fiber.<\/a> We are also more aware of our environmental impact than ever before.<\/p>\n\n\n\n<p>We strive to lead by example and motivate the community and other companies to behave responsibly. This is why we\u2019ve created a <a href=\"https:\/\/blog.prusa3d.com\/sustainability-in-prusa-research-our-plans_68946\/\" target=\"_blank\" rel=\"noreferrer noopener\">dedicated sustainability department<\/a> that focuses on reducing the company\u2019s carbon footprint, extending the life of our products, and reducing waste. Concrete examples include the production of <a href=\"https:\/\/prusament.com\/materials\/prusament-pla-recycled\/\" target=\"_blank\" rel=\"noreferrer noopener\">100% recycled filament<\/a>, a detailed supplier analysis, life cycle assessments of individual products, or establishing a community garden for our employees. Another example is a project that PrusaLab is heavily involved in, one which is also the subject of today\u2019s article \u2013 large-format 3D printing of recycled pelletized plastics.<\/p>\n\n\n\n<figure class=\"wp-block-video\"><video controls src=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/02\/velkoformat_web2.m4v\"><\/video><\/figure>\n\n\n\n<div class=\"gb-headline gb-headline-2c821484 gb-headline-text\">Check out the project&#8217;s page<a href=\"https:\/\/prusalab.cz\/en\/projects\/large-format\/\"> in our portfolio<\/a><\/div>\n\n\n\n<h5 class=\"wp-block-heading\">From drawing to 3D printing<\/h5>\n\n\n\n<p>This project is an effort to recycle plastic waste generated by our company, specifically by the production of filaments, using a robotic arm and a pellet extruder. The project unofficially started when we received a damaged Universal Robots UR10 arm from another department upstairs where it was no longer needed. We repaired it and tried to teach the robot to draw on a blackboard together with our friend and resident architect <a href=\"https:\/\/petrvacek.com\/\" target=\"_blank\" rel=\"noreferrer noopener\">Petr Vacek<\/a> (check out the video \u2013 it has English subtitles!).<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe title=\"U\u010d\u00edme robotickou ruku kreslit a ps\u00e1t\" width=\"1200\" height=\"675\" src=\"https:\/\/www.youtube.com\/embed\/FUL4IGVhcts?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p>The experiment allowed us to learn about the basic functionality of a collaborative robot, which would later allow us to use it for 3D printing from so-called pelletized materials. We use <a href=\"https:\/\/prusament.com\/\" target=\"_blank\" rel=\"noreferrer noopener\">Prusament<\/a> material that did not pass our strict quality control and thus has no other use except for being remade into pellets (repelletized), small particles of plastic that resemble fine pebbles.&nbsp;<\/p>\n\n\n<div class=\"gb-grid-wrapper gb-grid-wrapper-74b790f5\">\n<div class=\"gb-grid-column gb-grid-column-a714bc0d\"><div class=\"gb-container gb-container-a714bc0d\"><div class=\"gb-inside-container\">\n\n<figure class=\"wp-block-image size-large\"><a href=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2021\/09\/velkoformat-2.jpg\"><img fetchpriority=\"high\" decoding=\"async\" width=\"1024\" height=\"1024\" src=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2021\/09\/velkoformat-2-1024x1024.jpg\" alt=\"\" class=\"wp-image-17248\" srcset=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2021\/09\/velkoformat-2-1024x1024.jpg 1024w, https:\/\/prusalab.cz\/wp-content\/uploads\/2021\/09\/velkoformat-2-300x300.jpg 300w, https:\/\/prusalab.cz\/wp-content\/uploads\/2021\/09\/velkoformat-2-150x150.jpg 150w, https:\/\/prusalab.cz\/wp-content\/uploads\/2021\/09\/velkoformat-2-768x768.jpg 768w, https:\/\/prusalab.cz\/wp-content\/uploads\/2021\/09\/velkoformat-2-1536x1536.jpg 1536w, https:\/\/prusalab.cz\/wp-content\/uploads\/2021\/09\/velkoformat-2.jpg 1628w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/a><figcaption>Vase 3D printed from PETG granulate<\/figcaption><\/figure>\n\n<\/div><\/div><\/div>\n\n<div class=\"gb-grid-column gb-grid-column-63981e9c\"><div class=\"gb-container gb-container-63981e9c\"><div class=\"gb-inside-container\">\n\n<figure class=\"wp-block-image size-large\"><a href=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2021\/09\/velkoformat-1.jpg\"><img decoding=\"async\" width=\"1024\" height=\"1024\" src=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2021\/09\/velkoformat-1-1024x1024.jpg\" alt=\"\" class=\"wp-image-17242\" srcset=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2021\/09\/velkoformat-1-1024x1024.jpg 1024w, https:\/\/prusalab.cz\/wp-content\/uploads\/2021\/09\/velkoformat-1-300x300.jpg 300w, https:\/\/prusalab.cz\/wp-content\/uploads\/2021\/09\/velkoformat-1-150x150.jpg 150w, https:\/\/prusalab.cz\/wp-content\/uploads\/2021\/09\/velkoformat-1-768x768.jpg 768w, https:\/\/prusalab.cz\/wp-content\/uploads\/2021\/09\/velkoformat-1-1536x1536.jpg 1536w, https:\/\/prusalab.cz\/wp-content\/uploads\/2021\/09\/velkoformat-1.jpg 1615w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/a><figcaption>PET bottles can also be ground up and printed with<\/figcaption><\/figure>\n\n<\/div><\/div><\/div>\n<\/div>\n\n\n<h5 class=\"gb-headline gb-headline-db63fd3f gb-headline-text\">Starring: the pellet extruder<\/h5>\n\n\n\n<p>The last essential component in our large-format 3D printing journey is an extruder capable of processing large quantities of material. After a lengthy market research session, we decided to go with a Pellet Extruder v4 from the Spanish company <a href=\"https:\/\/mahor.xyz\/\" target=\"_blank\" rel=\"noreferrer noopener\">Mahor<\/a>, but we also considered alternatives from <a href=\"https:\/\/dyzedesign.com\/\" target=\"_blank\" rel=\"noreferrer noopener\">Dyze Design<\/a> or the open-source <a href=\"https:\/\/richrap.blogspot.com\/2014\/12\/no-more-filament-quest-for-universal.html\" target=\"_blank\" rel=\"noreferrer noopener\">RichRap<\/a> extruder. The pellet extruder uses plastic pellets and a \u201csnail screw\u201d instead of the well-known drive gear and filament spool combination used on desktop 3D printers. You can think of the snail screw as a large drill bit that rotates around its own axis to pick up pellets from a hopper and push them lower into the heating area, where they melt and are eventually pushed out through the nozzle.<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><a href=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruderSchema2.jpg\"><img decoding=\"async\" width=\"1024\" height=\"576\" src=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruderSchema2-1024x576.jpg\" alt=\"\" class=\"wp-image-25814\" srcset=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruderSchema2-1024x576.jpg 1024w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruderSchema2-300x169.jpg 300w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruderSchema2-768x432.jpg 768w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruderSchema2-1600x900.jpg 1600w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruderSchema2-1536x864.jpg 1536w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruderSchema2.jpg 1920w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/a><figcaption>Depiction of the screw extrusion process (<a href=\"https:\/\/www.researchgate.net\/publication\/313786675_Control-Oriented_Energy-Based_Modeling_of_a_Screw_Extruder_Used_for_3D_Printing\" target=\"_blank\" rel=\"noreferrer noopener\">source<\/a>)<\/figcaption><\/figure>\n\n\n\n<p>The main advantage of this solution is that a pellet extruder isn\u2019t limited by a single 1.75 mm spool of filament, so it can process much more material than a traditional FDM 3D printer. The pellets can also be added in freely during the printing process, which allows us to blend different material properties or create beautiful gradients.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><a href=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2021\/09\/velkoformat-5-scaled.jpg\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2021\/09\/velkoformat-5-768x1024.jpg\" alt=\"\" class=\"wp-image-17224\" width=\"384\" height=\"512\" srcset=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2021\/09\/velkoformat-5-768x1024.jpg 768w, https:\/\/prusalab.cz\/wp-content\/uploads\/2021\/09\/velkoformat-5-225x300.jpg 225w, https:\/\/prusalab.cz\/wp-content\/uploads\/2021\/09\/velkoformat-5-1152x1536.jpg 1152w, https:\/\/prusalab.cz\/wp-content\/uploads\/2021\/09\/velkoformat-5-scaled.jpg 1536w\" sizes=\"(max-width: 384px) 100vw, 384px\" \/><\/a><figcaption>Vase 3D printed from a mix of PETG granulates<\/figcaption><\/figure><\/div>\n\n\n\n<p>The disadvantage, on the other hand, lies in the higher temperature required to melt the pellets efficiently. For example, the printing temperature of <a href=\"https:\/\/prusament.com\/materials\/prusament-petg\/\" target=\"_blank\" rel=\"noreferrer noopener\">PETG<\/a> is about 30\u00b0C higher on the pellet extruder than on the <a href=\"https:\/\/www.prusa3d.com\/category\/original-prusa-i3-mk3s\/\" target=\"_blank\" rel=\"noreferrer noopener\">MK3S+<\/a>, which means that the print requires much more sophisticated cooling and is more likely to peel off from the print bed or experience surface warping. We try to minimize this problem by cooling the print with both an extruder fan and external cooling, which ensures an even temperature throughout the print.<\/p>\n\n\n\n<p>The original configuration of the extruder managed to extrude around 220 grams of material per hour, but with modifications including a new motor, better cooling, better nozzles, and new heating elements, we managed to get to over half a kilogram per hour.<\/p>\n\n\n<div class=\"gb-grid-wrapper gb-grid-wrapper-95d90bcc\">\n<div class=\"gb-grid-column gb-grid-column-05553958\"><div class=\"gb-container gb-container-05553958\"><div class=\"gb-inside-container\">\n\n<figure class=\"wp-block-image size-large\"><a href=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruder.jpg\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"1024\" src=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruder-1024x1024.jpg\" alt=\"\" class=\"wp-image-25808\" srcset=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruder-1024x1024.jpg 1024w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruder-300x300.jpg 300w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruder-150x150.jpg 150w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruder-768x768.jpg 768w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruder-24x24.jpg 24w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruder-48x48.jpg 48w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruder-96x96.jpg 96w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruder.jpg 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/a><figcaption>Modified extruder<\/figcaption><\/figure>\n\n<\/div><\/div><\/div>\n\n<div class=\"gb-grid-column gb-grid-column-9a9c8cae\"><div class=\"gb-container gb-container-9a9c8cae\"><div class=\"gb-inside-container\">\n\n<figure class=\"wp-block-image size-large\"><a href=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruder3.jpg\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"1024\" src=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruder3-1024x1024.jpg\" alt=\"\" class=\"wp-image-25816\" srcset=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruder3-1024x1024.jpg 1024w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruder3-300x300.jpg 300w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruder3-150x150.jpg 150w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruder3-768x768.jpg 768w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruder3-24x24.jpg 24w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruder3-48x48.jpg 48w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruder3-96x96.jpg 96w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/velkoformatExtruder3.jpg 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/a><figcaption>The Original Mahor Pellet Extruder v4 (<a href=\"https:\/\/mahor.xyz\/producto\/v4-pellet-extruder\/\" target=\"_blank\" rel=\"noreferrer noopener\">source<\/a>)<\/figcaption><\/figure>\n\n<\/div><\/div><\/div>\n<\/div>\n\n\n<h5 class=\"wp-block-heading\">Slicing, but in a different way<\/h5>\n\n\n\n<p>Before printing anything, we needed to figure out how to make the robot behave like a 3D printer. Preparing print data for a six-axis robotic arm is obviously not the same as slicing for a three-axis <a href=\"https:\/\/help.prusa3d.com\/article\/types-of-printers-and-their-differences_112464\" target=\"_blank\" rel=\"noreferrer noopener\">cartesian 3D printer<\/a>. Thankfully, Petr Vacek helped us out a lot by introducing us to Rhinoceros 3D and its <a href=\"https:\/\/www.grasshopper3d.com\/\" target=\"_blank\" rel=\"noreferrer noopener\">Grasshopper<\/a> plugin. <a href=\"https:\/\/www.rhino3d.com\/\" target=\"_blank\" rel=\"noreferrer noopener\">Rhinoceros 3D<\/a> (Rhino for short) is a freeform CAD program used by architects and industrial designers. Unlike Fusion 360 or Inventor, it gives the user more control over the modelling process and the data behind it, for example by removing automatic constraints and other such features.<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><a href=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/06\/velkoformatExtruderSimulace2.jpg\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"636\" src=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/06\/velkoformatExtruderSimulace2-1024x636.jpg\" alt=\"\" class=\"wp-image-25858\" srcset=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/06\/velkoformatExtruderSimulace2-1024x636.jpg 1024w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/06\/velkoformatExtruderSimulace2-300x186.jpg 300w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/06\/velkoformatExtruderSimulace2-768x477.jpg 768w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/06\/velkoformatExtruderSimulace2.jpg 1122w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/a><figcaption>Rhino&#8217;s visual environment allows you to simulate movement according to a script<\/figcaption><\/figure>\n\n\n\n<p>With greater control over the model comes the ability to modify the model\u2019s parameters, a feature provided by the legendary Grasshopper plugin. Grasshopper is a visual environment that offers components representing blocks of code. Inputs and outputs of these components can be grouped together and connected on a canvas. This workflow is commonly referred to as parametric design.<\/p>\n\n\n\n<p>At the beginning of our experiments with the robot, parametric design was a real challenge for us because we were still learning to think parametrically and to work with CAD data efficiently. Sources such as the <a href=\"https:\/\/www.youtube.com\/c\/ParametricHouse\" target=\"_blank\" rel=\"noreferrer noopener\">Rhino Grasshopper<\/a> YouTube channel provided us with a lot of practical knowledge, along with the books <a href=\"https:\/\/www.amazon.com\/Advanced-3D-Printing-Grasshopper%C2%AE-Clay\/dp\/B086Y7CLLC\" target=\"_blank\" rel=\"noreferrer noopener\">Advanced 3D Printing with Grasshopper<\/a> and <a href=\"https:\/\/www.amazon.com\/Algorithms-Aided-Design-Parametric-strategies-Grasshopper\/dp\/8895315308\" target=\"_blank\" rel=\"noreferrer noopener\">AAD Algorithms-Aided Design<\/a> by the renowned architect <a href=\"https:\/\/www.arturotedeschi.com\/\" target=\"_blank\" rel=\"noreferrer noopener\">Arturo Tedeschi<\/a>. Based on these sources, we managed to convert commands from a .gcode file generated by PrusaSlicer to coordinates that Rhino can work with and understands. With Grasshopper and the <a href=\"https:\/\/github.com\/visose\/Robots\/wiki\" target=\"_blank\" rel=\"noreferrer noopener\">Visose Robots<\/a> plugin, we can then translate these coordinates into a URscript file that generates commands for each of the robot\u2019s axes.&nbsp;<\/p>\n\n\n\n<figure class=\"wp-block-video\"><video controls loop src=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/01\/VelkoformatWebVideoOptimised.m4v\"><\/video><\/figure>\n\n\n\n<div class=\"gb-headline gb-headline-3cf6ced8 gb-headline-text\">Print height test (object height 2 m)<\/div>\n\n\n\n<p>This step, i.e. the conversion of Rhino coordinates into instructions for the robot, also allowed us to later generate and slice objects directly in Rhino using Grasshopper. This meant that we could bypass the limits of traditional slicing and print experiments such as wavy surfaces that slicer wouldn\u2019t allow due to \u201cempty layers\u201d or non-planar prints. The ability to print non-planar objects is the biggest advantage of the robotic arm over a traditional cartesian, delta or coreXY printer.<\/p>\n\n\n<div class=\"gb-container gb-container-944fd24e\"><div class=\"gb-inside-container\">\n\n<figure class=\"wp-block-video\"><video controls loop src=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/05\/nonplanar.m4v\"><\/video><\/figure>\n\n<\/div><\/div>\n\n\n<div class=\"gb-headline gb-headline-a969f35c gb-headline-text\">Testing a non-planar print<\/div>\n\n\n\n<h5 class=\"wp-block-heading\">Temporary shortcomings and future plants<\/h5>\n\n\n\n<p>At the moment, we are working on controlling the extruder \u2013 the movement of the robot and the extruder are currently two independent systems, so features like retractions or elegantly stopping during printing are not yet possible. However, the UR10 arm has several digital and analog inputs and outputs that will allow us to send a signal to the extruder controller to stop or start extruding. We aim to generate these signals in Grasshopper together with the print data, so that they become part of the same program and the robot controller receives them in real-time along with axis position instructions.<\/p>\n\n\n<div class=\"gb-grid-wrapper gb-grid-wrapper-63b5a3db\">\n<div class=\"gb-grid-column gb-grid-column-6fb6a4b1\"><div class=\"gb-container gb-container-6fb6a4b1\"><div class=\"gb-inside-container\">\n\n<figure class=\"wp-block-image size-large\"><a href=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/06\/velkformatVazy-1.jpg\"><img loading=\"lazy\" decoding=\"async\" width=\"819\" height=\"1024\" src=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/06\/velkformatVazy-1-819x1024.jpg\" alt=\"\" class=\"wp-image-25886\" srcset=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/06\/velkformatVazy-1-819x1024.jpg 819w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/06\/velkformatVazy-1-240x300.jpg 240w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/06\/velkformatVazy-1-768x960.jpg 768w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/06\/velkformatVazy-1.jpg 1080w\" sizes=\"(max-width: 819px) 100vw, 819px\" \/><\/a><\/figure>\n\n<\/div><\/div><\/div>\n\n<div class=\"gb-grid-column gb-grid-column-17d5d547\"><div class=\"gb-container gb-container-17d5d547\"><div class=\"gb-inside-container\">\n\n<figure class=\"wp-block-image size-large\"><a href=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/06\/velkformatVazy-2.jpg\"><img loading=\"lazy\" decoding=\"async\" width=\"819\" height=\"1024\" src=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/06\/velkformatVazy-2-819x1024.jpg\" alt=\"\" class=\"wp-image-25888\" srcset=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/06\/velkformatVazy-2-819x1024.jpg 819w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/06\/velkformatVazy-2-240x300.jpg 240w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/06\/velkformatVazy-2-768x960.jpg 768w, https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/06\/velkformatVazy-2.jpg 1080w\" sizes=\"(max-width: 819px) 100vw, 819px\" \/><\/a><\/figure>\n\n<\/div><\/div><\/div>\n<\/div>\n\n\n<p>The aforementioned Mahor extruder also needed an upgrade, as it has a 2 mm nozzle diameter, which may seem more than enough in the context of conventional desktop 3D printers that typically work with a 0.4mm nozzle, but from a large-format 3D printing perspective, it is a relatively small diameter. Moreover, nozzle size directly affects the maximum mass flow rate per unit of time, which is one of the key factors for printing large objects quickly and efficiently.&nbsp;<\/p>\n\n\n\n<p>That is why we decided to develop a new high-volume extruder that is tailored to our needs in cooperation with <a href=\"http:\/\/www.3deposition.com\/\" target=\"_blank\" rel=\"noreferrer noopener\">3Deposition<\/a>. This extruder should be able to handle up to 5 kg of material per hour, which would allow us to move from printing vases or flower pots to printing chairs, sofas, and other pieces of furniture. We will keep you updated on the development of the extruder and any subsequent experiments.<\/p>\n","protected":false},"excerpt":{"rendered":"","protected":false},"author":16,"featured_media":24358,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"inline_featured_image":false,"ub_ctt_via":"","footnotes":""},"categories":[82],"tags":[111],"class_list":["post-25861","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-case-studies","tag-largeformat","infinite-scroll-item","masonry-post","generate-columns","tablet-grid-50","mobile-grid-100","grid-parent","grid-50","resize-featured-image"],"featured_image_src":"https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/01\/velkoformatHeader.jpg","author_info":{"display_name":"Ji\u0159\u00ed Tyl","author_link":"https:\/\/prusalab.cz\/en\/blog\/author\/jiri-tyl\/"},"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v21.5 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Large-format 3D printing of recyclates using a robotic arm - PrusaLab<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/prusalab.cz\/en\/blog\/large-format-3d-printing\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Large-format 3D printing of recyclates using a robotic arm - PrusaLab\" \/>\n<meta property=\"og:url\" content=\"https:\/\/prusalab.cz\/en\/blog\/large-format-3d-printing\/\" \/>\n<meta property=\"og:site_name\" content=\"PrusaLab\" \/>\n<meta property=\"article:publisher\" content=\"https:\/\/www.facebook.com\/PrusaLab\/\" \/>\n<meta property=\"article:published_time\" content=\"2022-06-01T07:57:19+00:00\" \/>\n<meta property=\"article:modified_time\" content=\"2022-09-16T13:44:19+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/prusalab.cz\/wp-content\/uploads\/2022\/01\/velkoformatHeader.jpg\" \/>\n\t<meta property=\"og:image:width\" content=\"1920\" \/>\n\t<meta property=\"og:image:height\" content=\"1080\" \/>\n\t<meta property=\"og:image:type\" content=\"image\/jpeg\" \/>\n<meta name=\"author\" content=\"Ji\u0159\u00ed Tyl\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"Written by\" \/>\n\t<meta name=\"twitter:data1\" content=\"Ji\u0159\u00ed Tyl\" \/>\n\t<meta name=\"twitter:label2\" content=\"Est. reading time\" \/>\n\t<meta name=\"twitter:data2\" content=\"10 minutes\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"Article\",\"@id\":\"https:\/\/prusalab.cz\/en\/blog\/large-format-3d-printing\/#article\",\"isPartOf\":{\"@id\":\"https:\/\/prusalab.cz\/en\/blog\/large-format-3d-printing\/\"},\"author\":{\"name\":\"Ji\u0159\u00ed Tyl\",\"@id\":\"https:\/\/prusalab.cz\/#\/schema\/person\/c44f650fd7fa7549eb1f5a2cb9a66a88\"},\"headline\":\"Large-format 3D printing of recyclates using a robotic arm\",\"datePublished\":\"2022-06-01T07:57:19+00:00\",\"dateModified\":\"2022-09-16T13:44:19+00:00\",\"mainEntityOfPage\":{\"@id\":\"https:\/\/prusalab.cz\/en\/blog\/large-format-3d-printing\/\"},\"wordCount\":1353,\"publisher\":{\"@id\":\"https:\/\/prusalab.cz\/#organization\"},\"keywords\":[\"largeformat\"],\"articleSection\":[\"Case study\"],\"inLanguage\":\"en-US\"},{\"@type\":\"WebPage\",\"@id\":\"https:\/\/prusalab.cz\/en\/blog\/large-format-3d-printing\/\",\"url\":\"https:\/\/prusalab.cz\/en\/blog\/large-format-3d-printing\/\",\"name\":\"Large-format 3D printing of recyclates using a robotic arm - PrusaLab\",\"isPartOf\":{\"@id\":\"https:\/\/prusalab.cz\/#website\"},\"datePublished\":\"2022-06-01T07:57:19+00:00\",\"dateModified\":\"2022-09-16T13:44:19+00:00\",\"breadcrumb\":{\"@id\":\"https:\/\/prusalab.cz\/en\/blog\/large-format-3d-printing\/#breadcrumb\"},\"inLanguage\":\"en-US\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\/\/prusalab.cz\/en\/blog\/large-format-3d-printing\/\"]}]},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\/\/prusalab.cz\/en\/blog\/large-format-3d-printing\/#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"PrusaLab.cz\",\"item\":\"https:\/\/prusalab.cz\/en\/\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"Large-format 3D printing of recyclates using a robotic arm\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\/\/prusalab.cz\/#website\",\"url\":\"https:\/\/prusalab.cz\/\",\"name\":\"PrusaLab\",\"description\":\"Prototypov\u00e1 d\u00edlna &amp; 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